A Fuzzy Logic Control System for Quadcopter by Human Voluntary-Physical Movements
الموضوعات : Journal of Computer & Robotics
Shayan Mesdaghi
1
,
Mohamad Dosaranian-Moghadam
2
1 - Faculty of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran
2 - Faculty of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran
الکلمات المفتاحية: Fuzzy logic algorithm, quadcopter, head control, voluntary-physical movements,
ملخص المقالة :
In recent years, many scientists in universities and research centers focused on quadcopters. One of the problems with quadcopters is the complexity of its manual control system. In a typical system, the user is the observer of robot in addition to controlling the radio controller. In this paper, using a fuzzy logic algorithm, a robot control system for main and subsidiary movements by human head or wrist voluntary-physical movements is considered. In this case, without looking at control board the user can control the robot only with changing the head control voluntary or physical movements. Simulation results show that using fuzzy algorithm for determining the bending scale in different angles can decrease the human errors and processor computations. Also using fuzzy logic algorithm in the designed system the robot can track the user voluntary-physical movements optimally. In addition, the system output noises adjust due to involuntary user movements.
[1] Herman, G.; Milshteyn, A.; Lin, A.; Garcia, M.; Liu, C.; Guillaume,D.; Radand, K.; Boussalis, H., "Implementation of Kalman Filter on PSoC-5 Microcontroller for Mobile Robot Localization", Journal of
Communication and Computer, vol. 11, no. 5, pp. 469-477 (2014).
[2] Quadri, S. A.; Sidek, O., "Error and Noise Analysis in an IMU using Kalman Filter", International Journal of Hybrid Information Technology, vol. 7, no. 3, pp. 39-48 (2014).
[3] Tu, R.; Wang, R.; Walter, T. R.; Diao, F., "Adaptive Recognition and Correction of Baseline Shifts from Collocated GPS and Accelerometer using Two Phases Kalman Filter", Advances in Space Research, vol. 54, pp. 1924-1932 (2014).
[4] Sun, M.; Liu, J.; Wang, H.; Nian, X.; Xiong, H., "Robust Fuzzy Tracking Control of a Quad-Rotor Unmanned Aerial Vehicle based on Sector Linearization and Interval Matrix Approaches", ISA Transactions, vol. 80, pp. 336-349 (Sept. 2018).
[5] Valdez, F.; Vazquez, J. C.; Melin, P.; Castillo, O., "Comparative study of the use of fuzzy logic in improving particle swarm optimization variants for mathematical functions using co-evolution", Applied Soft
Computing, vol. 52, pp. 1070-1083 (2016).
[6] Kumar, K. S.; Rasheed, M.; Madhava Kumar, R. M., "Design and Implementation of Fuzzy Logic Controller for Quad Rotor UAV", 2nd International Conference on Research in Science, Engineering andTechnology, Dubai, UAE, pp. 114-120, (March 21-22, 2014).
[7] Lee, J.; Han, S.; Lee, J. M., "Decoupled Dynamic Control for Pitch and Roll Axes of the Unicycle Robot", IEEE Transactions on Industrial Electronics, vol. 60, no. 9, pp. 3814-3822 (2013).
[8] Kada, B.; Ghazzawi, Y., "Robust PID Controller Design for an UAV Flight Control System", Proceedings of the World Congress on Engineering and Computer Science, vol. 2, San Francisco, USA (19-21 October, 2011).
[9] Pounds, P.; Mahony, R.; Corke, P., "Modelling and Control of a Large Quadrotor Robot", Control Engineering Practice, vol. 18, pp. 691-699 (2010).
[10] Achtelik, M.; Weiss, S.; Siegwar, R., "Onboard IMU and Monocular Vision Based Control for MAVs in Unknown In- and Outdoor Environments", in Proceedings of the IEEE International Conference
on Robotics and Automation (ICRA), (May 2011).
[11] Lupashin, S.; Sch¨oandllig, A.; Sherback, M.; D’Andrea, R., "A Simple Learning Strategy for High-Speed Quadrocopter Multi-Flips",in Proceedings of the IEEE International Conference on Robotics and
Automation (ICRA), pp. 1642-1648 (May 2010).
[12] https://www.invensense.com/products/motion-tracking/6-axis/mpu-500/.
[13] Yin, S.; Luo, H.; Ding, S. X., "Real-Time Implementation of Fault-Tolerant Control Systems with Performance Optimization", IEEE Transactions on Industrial Electronics, vol. 61, no. 5, pp. 2402-2411 (2014).
